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@TheBrick(Tommy)
After some research I found you can cross the Medway on the edge of Rochester on the M2, there is a bike / foot bridge on the north side. As used in crossing the medway this route here.
http://www.cycle-route.com/routes/Rochester_Circular-Cycle-Route-2291.html
This this linked up with my route out of London could give a good route to get out of London, over the medway avoiding riding through Dartford or Rochester.